Examples and tips
PROGRAMMING MANUAL
286
Revi
si
on 3.0
6.2.3
Single axis program
fig. 50
This program is a simple program to run one axis only.
Example
'GOSUB homing
BASE(0)
DEFPOS(0)
WA(100)
loop:
MOVE(1440)
WAIT IDLE
WA(100)
GOTO loop
The units are degrees in this example, therefore:
•
13-bit encoder
•
Pn202=32
•
Pn203=45
•
UNITS=32
The graph in the figure is typical for this point-to-point movement
with linear acceleration). Note the following:
•
During linear acceleration, the graph of the position is parabolic
(because the speed is a derivative of the position).
•
During constant speed, the graph of the position is straight.
•
During linear deceleration, the graph of the position is counter-
parabolic.
•
During stop, the graph of the position is constant.
•
When an overflow occurs (
MPOS>=REP_DIST
), the position
jumps to 0 if
REP_OPTION=1
or to
-REP_DIST
if
REP_OPTION=0
.
I52E-EN-03.book Seite 286 Freitag, 29. Juni 2007 11:55 11
